\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors}{
\section{Zebulon::CoralAHRS::DataEulerAndSensors Class Reference}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors}\index{Zebulon::CoralAHRS::DataEulerAndSensors@{Zebulon::CoralAHRS::DataEulerAndSensors}}
}


This message is sent when the system output mode has been set to Coral Euler or Coral Sensors. It containts system time, euler angle orientation data, and calibrated sensor data. These packets are sent at a constant rate equal to the standard system output rate divided by the output rate divisor.  


{\ttfamily \#include $<$dataeulerandsensors.h$>$}Inheritance diagram for Zebulon::CoralAHRS::DataEulerAndSensors::\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=2cm]{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors}
\end{center}
\end{figure}
\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a47db1cb67a5bccdebedd8497d90cd4b0}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a47db1cb67a5bccdebedd8497d90cd4b0}{DataEulerAndSensors} ()}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a47db1cb67a5bccdebedd8497d90cd4b0}

\begin{DoxyCompactList}\small\item\em Constructor. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a8ebf4bb076cf42421933b08fdce0bbe6}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a8ebf4bb076cf42421933b08fdce0bbe6}{DataEulerAndSensors} (const \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors}{DataEulerAndSensors} \&message)}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a8ebf4bb076cf42421933b08fdce0bbe6}

\begin{DoxyCompactList}\small\item\em Copy constructor. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_acfb50b54d62ab307d7d37cdae566ee8f}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_acfb50b54d62ab307d7d37cdae566ee8f}{$\sim$DataEulerAndSensors} ()}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_acfb50b54d62ab307d7d37cdae566ee8f}

\begin{DoxyCompactList}\small\item\em Destructor. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a6b0d2328bf55764d21ef529d77802e49}{WriteMessageBody} (CxUtils::Packet \&packet) const 
\begin{DoxyCompactList}\small\item\em Writes contents of message body to packet. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a9436ed26acdd5f31773e6faf41c486a9}{ReadMessageBody} (const CxUtils::Packet \&packet)
\begin{DoxyCompactList}\small\item\em Reads contents of message body from the packet, saving to internal data members. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_aff5695e77fa8204fa4172776d3a569f8}{
virtual \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Message} $\ast$ {\bfseries Clone} () const }
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_aff5695e77fa8204fa4172776d3a569f8}

\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a0e9c7142a8a800dcba25bd745deec2cb}{
virtual void \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a0e9c7142a8a800dcba25bd745deec2cb}{Print} () const }
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a0e9c7142a8a800dcba25bd745deec2cb}

\begin{DoxyCompactList}\small\item\em Prints data to console window. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a89f301bf80ce0fd862bcdc606488209a}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors}{DataEulerAndSensors} \& \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a89f301bf80ce0fd862bcdc606488209a}{operator=} (const \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors}{DataEulerAndSensors} \&message)}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a89f301bf80ce0fd862bcdc606488209a}

\begin{DoxyCompactList}\small\item\em Sets equal to. \item\end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_ae8e4542328d00814be53332447fd6448}{
unsigned short \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_ae8e4542328d00814be53332447fd6448}{mSystemTimeMs}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_ae8e4542328d00814be53332447fd6448}

\begin{DoxyCompactList}\small\item\em System time from Coral AHRS internal clock (milliseconds). \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a8f259711bf522fc46d8a868049b93ef6}{
CxUtils::Point3D \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a8f259711bf522fc46d8a868049b93ef6}{mEulerAngles}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a8f259711bf522fc46d8a868049b93ef6}

\begin{DoxyCompactList}\small\item\em Euler angles x = roll \mbox{[}-\/pi,pi\mbox{]}, y = pitch \mbox{[}-\/pi/2, pi/2\mbox{]}, z = yaw \mbox{[}-\/pi, pi\mbox{]}(in radians). \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_aa69e6bcc0985908e5b00be35e4d8e0a3}{
CxUtils::Point3D \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_aa69e6bcc0985908e5b00be35e4d8e0a3}{mGyros}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_aa69e6bcc0985908e5b00be35e4d8e0a3}

\begin{DoxyCompactList}\small\item\em Calibrated output of the roll, pitch, and heading gyros. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_abaa5320ac1beeb733adfd0fbd18aadef}{
CxUtils::Point3D \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_abaa5320ac1beeb733adfd0fbd18aadef}{mAccelerometers}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_abaa5320ac1beeb733adfd0fbd18aadef}

\begin{DoxyCompactList}\small\item\em A vector with the calibraed output of the X, Y, and Z accelerometers. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a85dd45b821be5c2d819cf2d9a93441da}{
CxUtils::Point3D \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a85dd45b821be5c2d819cf2d9a93441da}{mMagnetometers}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a85dd45b821be5c2d819cf2d9a93441da}

\begin{DoxyCompactList}\small\item\em A vector with the calibrated output of the X, Y, and Z magnetometers. \item\end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
This message is sent when the system output mode has been set to Coral Euler or Coral Sensors. It containts system time, euler angle orientation data, and calibrated sensor data. These packets are sent at a constant rate equal to the standard system output rate divided by the output rate divisor. 

\subsection{Member Function Documentation}
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a9436ed26acdd5f31773e6faf41c486a9}{
\index{Zebulon::CoralAHRS::DataEulerAndSensors@{Zebulon::CoralAHRS::DataEulerAndSensors}!ReadMessageBody@{ReadMessageBody}}
\index{ReadMessageBody@{ReadMessageBody}!Zebulon::CoralAHRS::DataEulerAndSensors@{Zebulon::CoralAHRS::DataEulerAndSensors}}
\subsubsection[{ReadMessageBody}]{\setlength{\rightskip}{0pt plus 5cm}int DataEulerAndSensors::ReadMessageBody (const CxUtils::Packet \& {\em packet})\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a9436ed26acdd5f31773e6faf41c486a9}


Reads contents of message body from the packet, saving to internal data members. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em packet}]The packet to read data from.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Number of bytes read from packet. 
\end{DoxyReturn}


Implements \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Zebulon::CoralAHRS::Message}.\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a6b0d2328bf55764d21ef529d77802e49}{
\index{Zebulon::CoralAHRS::DataEulerAndSensors@{Zebulon::CoralAHRS::DataEulerAndSensors}!WriteMessageBody@{WriteMessageBody}}
\index{WriteMessageBody@{WriteMessageBody}!Zebulon::CoralAHRS::DataEulerAndSensors@{Zebulon::CoralAHRS::DataEulerAndSensors}}
\subsubsection[{WriteMessageBody}]{\setlength{\rightskip}{0pt plus 5cm}int DataEulerAndSensors::WriteMessageBody (CxUtils::Packet \& {\em packet}) const\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_euler_and_sensors_a6b0d2328bf55764d21ef529d77802e49}


Writes contents of message body to packet. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em packet}]The packet to write data to.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Number of bytes written to packet. 
\end{DoxyReturn}


Implements \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Zebulon::CoralAHRS::Message}.

The documentation for this class was generated from the following files:\begin{DoxyCompactItemize}
\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/coralahrs/include/coralahrs/messages/\hyperlink{dataeulerandsensors_8h}{dataeulerandsensors.h}\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/coralahrs/src/coralahrs/messages/\hyperlink{dataeulerandsensors_8cpp}{dataeulerandsensors.cpp}\end{DoxyCompactItemize}
